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Did you have a contract to use the "old" PoS software which has expired (for whatever reason)? Software companies are not allowed to own the data stored, managed and modified by their software.
I know it's been almost 20 years, but federal law used to require that at the end of licensed use, customer data must be made available in a format able to be imported into another system.
In other words, if the law hasn't been changed, the "old" PoS software provider MUST provide you a means to usably access the data collected through the use of their software.
So I would contact them and ask for a conversion program. I will be shocked if they don't have such.
Or, find out what database format they use.